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小型无人直升机凭借良好的机动特性,在军事和民用方面有着广泛的用途。针对小型无人直升机悬停模型,考虑模型参数不确定对无人机控制的影响,提出一种鲁棒自适应控制律,实现无人机控制系统对不确定扰动的抑制。首先,基于无人直升机线性化悬停模型设计滑模面,并结合标称系统控制的反馈增益,获得滑模面的设计参数;在此基础上,利用传统滑模趋近律设计方法设计控制器;为改善系统控制性能,设计基于自适应增益的趋近律,实现系统鲁棒自适应控制。其次,利用Lyapunov稳定理论对所设计的鲁棒自适应控制策略的稳定性进行分析说明。最后,通过与基于指数趋近律以及变速趋近律的两种滑模控制方法仿真对比,验证了所设计的控制方法的有效性和优越性。
The small unmanned helicopter has a wide range of uses in military and civilian applications due to its good maneuver characteristics. Considering the influence of model parameters uncertainty on UAV control, a robust adaptive control law is proposed for small unmanned helicopter hovering model to achieve UAV control uncertainty suppression. First of all, based on the unmanned helicopter linear hovering model design sliding surface, combined with the nominal system control feedback gain, to obtain the design parameters of sliding surface; on this basis, the use of traditional sliding mode approach to design control design method In order to improve the control performance of the system, a reaching law based on adaptive gain is designed to realize the robust adaptive control of the system. Secondly, the stability of the designed robust adaptive control strategy is analyzed and illustrated by Lyapunov stability theory. Finally, the validity and superiority of the proposed control method are verified by simulations with two sliding mode control methods based on the exponential reaching law and the speed reaching law.